CN109787520B - Drive control equipment, integrated motor and automatic control system - Google Patents
Drive control equipment, integrated motor and automatic control system Download PDFInfo
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Abstract
The invention discloses a drive control device, an integrated motor and an automatic control system, wherein a drive control circuit of the drive control device is used for controlling a stepping motor to run at a preset speed in an open loop state in a correction stage of a magnetic encoder, acquiring a speed increment in a preset time interval after the stepping motor runs stably at the preset speed, and acquiring correction compensation parameters caused by assembly deviation of the magnetic encoder according to the speed increment for storage; the driving control equipment can acquire the correction compensation parameters of the target harmonic component generated by the assembly deviation of the magnetic encoder to correct the excrement collecting and editing device, so that the information acquired by the corrected magnetic encoder is as accurate as possible, the real closed-loop control of the stepping motor body is realized by the magnetic encoder, and the real-time performance and accuracy of motor control are ensured.
Description
Technical Field
The invention relates to the field of motor control, in particular to drive control equipment, an integrated motor and an automatic control system.
Background
The motor driver is a product widely applied to industrial control and automatic production, for example, the motor driver is applied to various automatic control industries such as 3C automation, single-shaft manipulators, logistics and the like. In the existing automation equipment, a controller, a driver and a motor body (namely an actuating mechanism are generally independent, namely the actuating mechanism is physically independent three component equipment, the controller and the driver are generally arranged in a special electric control cabinet of the automation equipment, the actuating mechanism (generally referred to as a stepping motor body or a servo motor body) is generally arranged at a transmission shaft end of the automation equipment, and the automation equipment has the defects that the volume of the automation equipment is difficult to reduce, long signal wire connection is needed between the driver and the motor body, interference is easy to occur, and wire connection between components needs wire and labor cost.
Therefore, providing an integrated motor capable of integrating a driver with a motor body is a technical problem that is urgently needed to be solved at present. And encoders are typically integrated into the integrated motor. For the photoelectric encoder, due to the sensitivity of the photoelectric encoder, when the motor is assembled and used, the encoder is required to be in a dry and dust-free environment, and the photoelectric encoder is made of glass or a film, so that the application range of the photoelectric encoder to the environment temperature of the encoder is narrow. The number of code wheel lines with the diameter of less than 20mm is usually less than 500 lines due to process limitation when a metal code wheel is adopted, the number of small-size code wheels is usually low or the price is high, a low-line number encoder cannot be used in a closed-loop stepping driver, the closed-loop application of a base motor with the diameter of less than 42 is greatly limited by a small-size photoelectric encoder with the price, and the realization and the application of an integrated motor are greatly limited. Therefore, a magnetic encoder can be used for information acquisition on the integrated motor. However, due to the limitations of the manufacturing process and the assembly process, it is difficult to ensure that the magnetic encoder cannot introduce installation errors in the installation process, and because of this, the current self-control device using the magnetic encoder generally only adopts the magnetic encoder to perform some simple position feedback without participating in real-time control, and the control device adopting the magnetic encoder generally cannot realize real closed-loop control.
Disclosure of Invention
The invention provides a drive control device, an integrated motor and an automatic control system, which solve the problem that the actual closed-loop control cannot be realized due to the installation error of a magnetic encoder in the existing integrated motor.
In order to solve the problems, the invention provides a drive control device of an integrated stepping motor, which comprises a housing and a circuit board, wherein the circuit board and the housing are sequentially fixed on the rear end of a stepping motor body from bottom to top, and the circuit board is embedded in the housing;
the circuit board is provided with a drive control circuit, the circuit board is also provided with a communication bus terminal for communicating with the outside, one surface of the circuit board opposite to the rear end of the stepping motor body is the back surface of the circuit board, and the back surface of the circuit board is also provided with a magnetic encoder;
the magnetic encoder on the circuit board and the magnetic sheet in the second through hole form magnetic fit;
the driving control circuit is used for controlling the stepping motor to run at a preset speed in an open loop state in a correction stage of the magnetic encoder, acquiring a speed increment in a preset time interval after the stepping motor runs stably at the preset speed, and acquiring correction compensation parameters caused by assembly deviation of the magnetic encoder according to the speed increment for storage.
Optionally, acquiring correction compensation parameters caused by the assembly deviation of the magnetic encoder according to the speed increment for storage includes:
obtaining harmonic components from the speed increment through Fourier transformation, and obtaining correction compensation parameters according to target harmonic components of the harmonic components, which are caused by assembly deviation of the magnetic encoder, and storing the correction compensation parameters;
or according to the corresponding relation table of the speed increment and the preset speed increment and the correction compensation parameter, searching the correction compensation parameter corresponding to the speed increment and storing the correction compensation parameter.
Optionally, the correction compensation parameter includes at least one of a harmonic amplitude and a harmonic phase value of the target harmonic.
Optionally, the target harmonic includes at least one of a second harmonic and a fourth harmonic.
Optionally, the driving control circuit controls the stepper motor to run at a preset speed in an open loop state after receiving the magnetic encoder correction start command through the communication bus terminal.
Optionally, the communication bus terminal includes at least one of:
RS485 communication terminal, RS232 communication terminal, CAN communication terminal, ethercat communication terminal.
Optionally, a surface of the circuit board opposite to the end surface of the housing is a front surface of the circuit board, the communication bus terminal is arranged on the front surface of the circuit board, and the end surface of the housing is provided with a first through groove for exposing the communication bus terminal from the end surface of the housing.
Optionally, a dial switch is disposed on a side opposite to the communication bus terminal on the front surface of the circuit board, and a second through groove for exposing the dial switch from the end surface of the housing is disposed on the end surface of the housing.
Optionally, the driving control circuit is further configured to obtain a current lead angle, and superimpose the current lead angle on a feedback current angle and send the superimposed current lead angle to the stepper motor.
Optionally, the circuit board is further provided with an I/O connection unit connected to the driving control circuit, and a connection direction of the I/O connection unit forms an angle with a side surface of the housing and is exposed from the side surface of the housing to the outside of the housing, so that an I/O connection plug connected to the I/O connection terminal in a matching manner is inserted.
In order to solve the problems, the invention also provides an integrated stepping motor, which comprises a stepping motor body and the driving control equipment, wherein the end face of the rear end of the stepping motor body is provided with a connecting screw hole for connecting with the driving control equipment, the housing and the circuit board are respectively provided with a screw through hole corresponding to the connecting screw hole, and the connecting screws sequentially penetrate through the connecting screw through holes on the housing, the circuit board and the bracket and are screwed into the corresponding connecting screw holes on the end face of the rear end of the stepping motor body to connect the housing, the circuit board and the stepping motor body into a whole;
The number of the connecting screw holes on the end face of the rear end of the stepping motor body is two or three, and at least two connecting screw holes are arranged in a diagonal mode.
Optionally, the rear end face of the stepping motor body is further provided with a positioning column;
the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and has an inner diameter matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column penetrates through the second positioning through hole on the circuit board, and a magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole;
at least one positioning column is provided with a first circuit board bearing bulge, and the circuit board is propped against the first circuit board bearing bulge after passing through a second positioning through hole on the circuit board;
and/or the number of the groups of groups,
the stepping motor comprises a stepping motor body, wherein the rear end face of the stepping motor body is provided with at least one second circuit board bearing protrusion, and the circuit board abuts against the second circuit board bearing protrusion after the positioning column penetrates through a second positioning through hole in the circuit board.
Optionally, the driving control device further includes a bracket disposed between the circuit board and the end face of the rear end of the stepper motor body, and a first through hole for the magnetic encoder to collect information is disposed in a region corresponding to the magnetic encoder on the bracket; the integrated motor further comprises a concentric positioning boss which is arranged between the bracket and the rear end of the stepping motor body, concentric with the first through hole and the second through hole and hollow in the inner space; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are connected in an aligned mode through the concentric positioning boss, and the magnetic encoder corresponding to the phase position of the first through hole and the magnetic sheet on the motor rear shaft in the second through hole form magnetic fit.
Optionally, a surface of the bracket, which is close to the stepper motor body, is a bracket back surface, and the concentric positioning boss is arranged around the first through hole on the bracket back surface; the inner diameter of the opening, close to the back surface of the bracket, of the second through hole is matched with the outer diameter of the concentric positioning boss; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second through hole, so that the first through hole and the second through hole are connected in an aligned manner;
or alternatively, the first and second heat exchangers may be,
the concentric positioning boss is arranged around the first through hole on the back surface of the bracket; a second concentric positioning groove with the diameter matched with that of the concentric positioning boss is formed on the end face of the rear end of the stepping motor body and surrounds the second through hole; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second concentric positioning groove, so that the first through hole and the second through hole are aligned and connected;
or alternatively, the first and second heat exchangers may be,
the concentric positioning boss is arranged around the second through hole on the end face of the rear end of the stepping motor body; the inner diameter of the opening of the first through hole, which is close to the end face of the rear end of the stepping motor body, is matched with the outer diameter of the concentric positioning boss; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the first through hole, so that the first through hole and the second through hole are connected in an aligned manner;
Or alternatively, the first and second heat exchangers may be,
the concentric positioning boss is arranged around the second through hole on the end face of the rear end of the stepping motor body; a first concentric positioning groove with the diameter matched with that of the concentric positioning boss is formed on the back surface of the bracket around the first through hole; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected when the concentric positioning boss is embedded into the first concentric positioning groove.
Optionally, the driving control device further includes a bracket disposed between the circuit board and the end face of the rear end of the stepper motor body, and a first through hole for the magnetic encoder to collect information is disposed in a region corresponding to the magnetic encoder on the bracket;
a positioning column is further arranged on the end face of the rear end of the stepping motor body; the bracket is provided with a first positioning through hole opposite to the positioning column, the circuit board is provided with a second positioning through hole opposite to the positioning column and with an inner diameter matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column sequentially penetrates through the first positioning through hole on the support and the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole through the first through hole.
Optionally, a first auxiliary positioning hole is formed in the end face of the rear end of the stepper motor body, a first auxiliary positioning column corresponding to the first auxiliary positioning hole in position is further formed in the back of the support, and when the support is fixed at the rear end of the stepper motor body, the first auxiliary positioning column is embedded into the first auxiliary positioning hole.
Optionally, the support is kept away from the one side of step motor body is the support front, be provided with the second auxiliary positioning post on the support front, be provided with on the circuit board the position with the corresponding second auxiliary positioning hole of second auxiliary positioning post, during the installation, the embedding of second auxiliary positioning post second auxiliary positioning hole is used for fixed circuit board.
Optionally, the support is kept away from the one side of step motor body is the support front, still be provided with on the support front and support the boss, during the installation the circuit board back support on the boss with form components and parts accommodation space between the support front, components and parts on the circuit board back are located in the components and parts accommodation space.
In order to solve the above problems, the present invention further provides an automation control system, which includes an actuator and the integrated motor as described above, wherein the stepper motor body is connected to the actuator, and the driving control device controls the actuator to perform corresponding actions through the stepper motor body.
The invention has the beneficial effects that:
the circuit board of the drive control equipment is embedded in the housing of the drive control equipment; the circuit board is provided with a drive control circuit and a magnetic encoder; the motor rear shaft of the stepping motor and the magnetic sheet fixed on the motor rear shaft are positioned in the second through hole, and the magnetic encoder and the magnetic sheet in the second through hole form magnetic fit; the driving control circuit is used for controlling the stepping motor to run at a preset speed in an open loop state in a correction stage of the magnetic encoder, acquiring a speed increment in a preset time interval after the stepping motor runs stably at the preset speed, and acquiring correction compensation parameters caused by the assembly deviation of the magnetic encoder according to the speed increment for storage; the driving control equipment can acquire the correction compensation parameters of the target harmonic component generated by the assembly deviation of the magnetic encoder to correct the excrement collecting and editing device, so that the information acquired by the corrected magnetic encoder is as accurate as possible, the stepping motor body can be controlled in real time based on the information such as position feedback acquired by the encoder, namely the real closed-loop control of the stepping motor body is realized by using the magnetic encoder, and the real-time performance and accuracy of motor control are ensured.
Drawings
Fig. 1 is a schematic perspective view of an integrated motor according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an integrated motor according to a second embodiment of the present invention;
FIG. 3 is an exploded view of the integrated motor of FIG. 1;
FIG. 4 is a second schematic explosion diagram of the integrated motor shown in FIG. 1;
FIG. 5 is an exploded schematic view of the integrated motor of FIG. 1;
FIG. 6 is a schematic plan view of a housing end face of the housing of the integrated motor shown in FIG. 1;
FIG. 7 is a schematic view of the inside construction of the casing of the integrated motor of FIG. 1;
FIG. 8 is a schematic diagram of another explosion of the integrated motor of FIG. 1;
FIG. 9 is a second exploded view of the integrated motor of FIG. 1;
fig. 10 is a schematic perspective view of another integrated motor according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of an integrated motor control flow provided by an embodiment of the present invention;
FIG. 12 is a schematic diagram of a calibration flow of a magnetic encoder according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a stepper motor control apparatus according to an embodiment of the present invention;
in the figure: 1 is a driving control device, 2 is a stepping motor body, 11 is a bracket, 12 is a circuit board, 110 is a first through hole, 111 is a first auxiliary positioning column, 112 is a second auxiliary positioning column, 113 is a supporting boss, 114 is a placing through hole, 115 is a concentric positioning boss, 116 is a first positioning through hole on the bracket, 117 is a winding through hole, 121 is an I/O connecting terminal, 122 is an RS485 communication terminal, 123 is a dial switch, 124 is a capacitor, 125 is a magnetic encoder, 126 is a heating element, 127 is a second auxiliary positioning hole, 128 is a second positioning through hole on the circuit board, 131 is a long screw, 132 is a short screw, 133 is an indicator lamp, 134 is an indicator lamp window, 135 is a second through groove, 136 is a first through groove, 137 is a heat conducting boss, 138 is a cover height positioning boss, 1302 is a data interaction module, 1302 is a data processing module, 1303 is a control module, 1304 is an alarm module, 1305 is a protection module, 20 is a stepping motor body rear end face, 21 is a motor rear shaft, 22 is a second through hole, 221 is a ring-shaped step, 23 is a screw hole, 24 is a short screw hole is a second auxiliary positioning pin is matched with a first screw, 25 is a long screw hole.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention will be described in further detail below with reference to the drawings by means of specific embodiments.
Embodiment one:
the integrated motor provided by the embodiment comprises a drive control device and a motor body, wherein the drive control device is connected with the motor body to form the integrated motor. The drive control apparatus in this embodiment may integrally realize the drive function of the motor driver, and optionally, may also integrally realize at least part of the functions of the controller. The motor body in this embodiment can be a stepper motor body, also can be a servo motor body, specifically can be according to needs and application scenario nimble selection. For ease of understanding, the present embodiment will be described below taking a stepping motor body as an example.
In the embodiment, the drive control device is connected with the stepping motor body to form an integrated motor, so that compared with the existing automatic device with a driver and a motor body which are separately arranged, the volume of the device can be reduced, and various application scenes can be better met; and the connection line between the driving control equipment and the stepping motor body can be greatly shortened, so that the anti-interference capability of the stepping motor is improved, and meanwhile, the connection consumable and the labor cost between the components are reduced.
The integrated motor in this embodiment may use the magnetic encoder to collect information as a control basis. Compared with the traditional method of adopting a photoelectric encoder as position signal feedback, in the embodiment, the installation accuracy of the magnetic encoder can be ensured through a positioning structure. However, due to the limitations of the manufacturing process and the assembly process, it is difficult to ensure that the magnetic encoder cannot introduce installation errors in the installation process, which is also the reason that the current self-control device using the magnetic encoder generally only adopts the magnetic encoder to perform some simple position feedback and does not participate in real-time control, and the control device adopting the magnetic encoder generally cannot realize real closed-loop control.
In view of the above, the driving control circuit of the driving control device in this embodiment is configured to control the stepper motor to operate at a preset speed in an open loop state during a correction phase of the magnetic encoder, and obtain a speed increment within a preset time interval after the stepper motor operates stably at the preset speed, and obtain correction compensation parameters caused by assembly deviation of the magnetic encoder according to the speed increment for storage.
In the present embodiment, the manner of acquiring the correction compensation parameters due to the assembly deviation of the magnetic encoder according to the obtained speed increment and storing them may be, but not limited to, any one of the following manners:
Mode one: obtaining harmonic components from the speed increment through Fourier transformation, and obtaining correction compensation parameters according to target harmonic components (namely detection signal fluctuation introduced by magnetic encoder assembly errors) caused by magnetic encoder assembly errors in the harmonic components for storage;
mode two: and searching and storing the correction compensation parameters corresponding to the speed increment according to the corresponding relation table of the speed increment and the preset speed increment and the correction compensation parameters.
The obtained correction compensation parameters can be used for correcting and compensating the assembly errors caused by the disc encoder in the installation process.
It should be understood that the driving control circuit in this embodiment may include a microprocessor and a control circuit connected to the microprocessor, and optionally may further include a memory unit. The above process of acquiring the correction compensation parameter may be implemented by software provided in the storage unit, and the microprocessor may call the software in the storage unit to implement the above process of acquiring the correction compensation parameter. In some examples, the above-mentioned acquisition of correction compensation parameters may also be achieved in combination with the microprocessor by means of a corresponding circuit unit in the control circuit or by providing a corresponding chip.
In the present embodiment, the acquired correction compensation parameter includes at least one of a harmonic amplitude value and a harmonic phase value of the target harmonic. Therefore, when the microprocessor subsequently controls the stepping motor body, compensation processing can be performed based on the obtained harmonic amplitude and/or harmonic phase value, signal fluctuation caused by assembly errors of the magnetic encoder is avoided as much as possible, the accuracy of detection signals is ensured, and accurate control of the stepping motor body based on information detected by the magnetic encoder is further ensured. In the embodiment, the process can be triggered to perform one-time automatic calibration calculation to obtain the correction compensation parameter when the integrated motor is electrified for the first time, and in the subsequent use process of the integrated motor, if the relative positions of the magnetic encoder and the stepping motor body are not changed, secondary calibration is not needed, and the correction process is reliable and simple. Because the magnetic encoder can acquire accurate information as position signal feedback after the calibration, the stepping motor body can be truly closed-loop controlled based on the information acquired by the magnetic encoder. The integrated motor can adopt the magnetic encoder to realize some simple position feedback and also participate in real-time control, thereby improving the application range of the magnetic encoder.
In one example of the present embodiment, after the stepper motor is stably operated at a preset speed, a speed increment within a preset time interval is obtained, after a harmonic component is obtained from the speed increment through fourier transform, a target harmonic component caused by a magnetic encoder assembly deviation in the extracted harmonic component may include at least one of a second harmonic and a fourth harmonic. The preset speed in this embodiment may be configured according to a specific application scenario, and the number of bits of the magnetic encoder and configuration information thereof, and the storage position of the obtained correction compensation parameter in this embodiment may be flexibly set.
In this embodiment, the driving control circuit may be connected to an external corresponding correction control device through a communication bus terminal, and after receiving a magnetic encoder correction start instruction through the communication bus terminal, control the stepping motor to operate at a preset speed in an open loop state, and acquire a speed increment within a preset time interval after detecting that the stepping motor stably operates at the preset speed. In one example of the present embodiment, the preset time interval and the preset speed may be flexibly set based on the number of bits of the magnetic encoder, or the like.
In this embodiment, after the harmonic amplitude value and/or the harmonic phase value of the target harmonic are obtained based on the above process, in the subsequent use process of the integrated motor, correction compensation parameters such as the obtained harmonic amplitude value and/or the obtained harmonic phase value are used for performing correction control on the magnetic encoder, and then the magnetic encoder is used for accurately acquiring information such as position and the like, and closed-loop control is performed on the stepping motor body based on the information acquired by the magnetic encoder. The closed-loop control strategy for performing closed-loop control on the component motor body in the present embodiment may include, but is not limited to, at least one of a vector control strategy and a lead angle adjustment control strategy.
For example, in one example, the driving control circuit may further acquire a current lead angle based on the information acquired by the magnetic encoder, and superimpose the current lead angle on the fed-back current angle and send the superimposed current lead angle to the stepper motor, so as to realize lead angle transformation control, thereby improving control accuracy of the stepper motor.
It should be understood that the above-described acquisition of the correction compensation parameters of the magnetic encoder in the present embodiment is not limited to the integrated motor structure shown in fig. 1 to 10, but is also applicable to other integrated motor structures provided with a magnetic encoder. In order to facilitate understanding, the present embodiment will be described below by taking the structure of the integrated motor shown in fig. 1 to 10 as an example, and the control process and the magnetic encoding correction process of the integrated motor will be described by way of example.
Referring to fig. 11, the control process of the integrated motor includes:
s1101: and carrying out clock configuration on the integrated motor.
S1102: the integrated motor is initialized, including but not limited to, initializing a chip such as a microprocessor.
S1103: the integrated motor is set in state, for example, but not limited to, by a dial switch.
S1104: a magnetic encoder calibration process is performed.
S1105: and when needed, carrying out online upgrading treatment on the integrated motor.
The process of performing the calibration process of the magnetic encoder is shown in fig. 12, and includes:
s1201: judging whether the calibration of the magnetic encoder is started or not, for example, detecting that the calibration starting instruction of the magnetic encoder can be received, wherein the calibration starting instruction of the magnetic encoder can be received through a communication bus terminal and also can be issued through a control button arranged on the integrated motor, if so, the step S1202 is carried out; otherwise, continuing to judge or ending.
S1202: the configuration information of the magnetic encoder may be read, including but not limited to, the number of bits of the magnetic encoder, a preset speed, a storage location, and the like.
S1203: controlling the stepping motor to forcedly open loop.
S1204: judging whether the stepping motor runs at a constant speed at a preset speed, if so, turning to S1205; otherwise, the process proceeds to S1203 to continue the judgment.
S1205: and acquiring the speed increment in a preset time interval.
S1206: the speed increment is subjected to Fourier transformation to obtain harmonic components.
S1207: the correction compensation parameters including the harmonic amplitude and the harmonic phase of the target harmonic component are obtained from the target harmonic component (i.e., the second and/or fourth harmonic components other than the fundamental wave, etc.) among the harmonic components due to the magnetic encoder assembly deviation. In one example, the harmonic amplitude and the harmonic phase of the target harmonic component corresponding to the speed increment may also be found according to a corresponding relation table between the speed increment and a preset speed increment and a correction compensation parameter.
S1208: the harmonic amplitude and harmonic phase of the acquired target harmonic component are stored into a read storage location.
Through the correction process shown in fig. 12, compared with the mode of not carrying out the calibration of the magnetic encoder, the magnetic encoder calibrated according to the mode shown in the above drawing can reduce the repeated accuracy of detection from 0.1 degree to 0.05 degree, and can well meet the closed-loop control requirement of the stepping motor, thereby improving the control accuracy of the stepping motor.
Embodiment two:
please refer to the integrated motor shown in fig. 1-7, wherein fig. 1-2 are perspective views of two different angles of the integrated motor according to the embodiment, fig. 3-5 are exploded views of the integrated motor according to different angles, fig. 6 is a schematic plan view of an end face of the housing, and fig. 7 is a schematic view of a structure of an inner side of the housing. The integrated motor includes a drive control apparatus 1 and a stepping motor body 2. The drive control device 1 is connected with the stepping motor body 2 to form an integrated motor. It should be appreciated that the specific physical connection structure between the two may be flexibly set, for example, but not limited to, a screw connection, a snap connection, a combination thereof, or the like.
In the present embodiment, the drive control apparatus 1 includes the housing 13, the housing end face of the housing 13 being opposed to the stepping motor body rear end face 20, and the housing side face of the housing 13 being parallel to the rotation axis of the stepping motor body 2. The drive control device 2 includes a circuit board 12 provided in a housing 13, and a drive control circuit (not shown) and an I/O wiring unit connected to the drive control circuit are provided on the circuit board 12, and the wiring direction of an I/O wiring terminal 121 of the I/O wiring unit forms an angle with the housing side and is exposed outside the housing from the housing side so as to facilitate insertion of an I/O wiring plug connected to the I/O wiring terminal in a mating manner. The I/O wiring plug which is matched and connected with the I/O wiring terminal can be inserted from the side surface direction of the housing, so that the axial installation space of the motor body is saved, and the integrated motor can be better adapted to the limited installation space. It should be understood that, in this embodiment, a certain angle may be flexibly set, for example, an angle formed by a connection direction of the I/O connection terminal and a side surface of the housing may be greater than or equal to 0 ° and less than or equal to 90 °, for example, may be flexibly set to 10 °, 20 °, 30 °, 45 °, 60 °, 80 °, 90 ° and the like. In one example, the I/O terminal is oriented at an angle of 90 ° or near or slightly greater than 90 ° to the side of the housing.
In one example of the present embodiment, the side surface of the housing may be provided with a closed first terminal receiving through groove, the I/O connection terminal being located in the first terminal receiving through groove, the connection direction of the I/O connection terminal being exposed from the side surface of the housing through the first terminal receiving through groove; optionally, a side (i.e., a bottom) of the I/O connection terminal, which is close to the motor body, may abut against the bottom of the first terminal accommodating through groove, or may be in a suspended state without contacting the bottom of the first terminal accommodating through groove. The drive control apparatus may not include a bracket in this example.
In another example of the present embodiment, the drive control apparatus may further include a bracket provided between the circuit board and the rear end face of the stepping motor body, the side face of the housing may be provided with a second terminal accommodating through groove communicating with the bracket, the I/O connection terminal may be located in the second terminal accommodating through groove, a side (i.e., bottom) of the I/O connection terminal close to the motor body may abut against the bracket, and a connection direction of the I/O connection terminal may be exposed from the side face of the housing through the second terminal accommodating through groove. Of course, in some application scenarios, the bottom of the I/O connection terminal may also be set in a suspended state without contacting the bracket.
In this embodiment, in order to meet the flexible installation requirement of the user and improve the reliability and the wiring efficiency of the wiring, the I/O wiring plug in this embodiment may use a screw line-pressing plug, that is, the wiring on the I/O wiring plug uses a screw-screwing manner to perform line pressing, and the wiring is simple and reliable.
In some application scenarios of this embodiment, the I/O connection plug may be any one of a cold-pressed connection plug, a spring-pressed connection plug, and a pin connection plug, which provides a plug with multiple connection modes, so that different users can flexibly select the plug, and compatibility is improved.
In this embodiment, the I/O connection terminals may include, but are not limited to, a power terminal and a ground terminal for a power supply input, and power is supplied to the drive control apparatus by connection of the power terminal of the power supply input to the power supply.
Optionally, the I/O connection terminal in this embodiment may further include, but is not limited to, at least one of the following terminal ports:
a control terminal for inputting control signals, and a setting terminal for inputting setting signals.
For example, in one application scenario, the driver device 1 may include several types of terminals in consideration of the power supply terminal, the ground terminal, and the control terminal, the setting terminal, and the setting terminal, which are relatively commonly used, for inputting a control signal. Therefore, the I/O connection terminal in this embodiment is provided with at least one of the following functions, including but not limited to, in addition to the power supply terminal and the ground terminal, according to the need:
Pulse input, enable input, direction input, alarm output.
Correspondingly, in order to achieve the above functions, in this embodiment, at least two I/O connection terminals are disposed on the circuit board, and one end of the at least two connection terminals, which is connected to the I/O connection plug, may be exposed from the same side of the housing, so as to facilitate the I/O connection. For example, in one example, two I/O connection terminals are provided on the circuit board to respectively implement power input and ground, and the alternatives for pulse input and direction input can be implemented through communication bus terminals provided on the circuit board. In another example, four I/O connection terminals are arranged on the circuit board to respectively realize power input, grounding, pulse input and direction input; for another example, six I/O terminals are provided on the circuit board, which can perform any of a number of functions including power input, ground, pulse input, enable input, direction input, and alarm output. For another example, eight I/O terminals are provided on the circuit board, which can perform any of a number of functions including power input, ground, pulse input, enable input, direction input, and alarm output. Or 10I/O connecting terminals are arranged on the circuit board, and the 10I/O connecting terminals can realize any of the functions of power input, grounding, pulse input, enabling input, direction input and alarm output. In addition, in the embodiment, the I/O connection terminals may be arranged in a single row, or may be arranged in a double row according to the requirement.
For ease of understanding, the following description will be given by taking the integrated motor shown in fig. 1 to 7 as an example. In this example, 10I/O terminals (i.e., 10-bit I/O terminals) 121 are provided on the circuit board 12 of the drive control apparatus 2, with a pitch between the I/O terminals of 3.5mm, although the pitch rule can be flexibly selected. In this example, one end of the 10I/O connection terminals 121 to which the I/O connection plug is connected is exposed from the same housing side so as to facilitate the I/O connection.
In addition, in this embodiment, in order to further fully utilize the installation space, more facilitate the connection and reliability during installation, in this embodiment, at least one through slot may be provided on the cross section of the housing for exposing the target component to the outside of the housing for operation or connection, etc. for at least one target component to be exposed on the circuit board. Therefore, the axial installation space and the lateral installation space of the integrated motor can be utilized simultaneously, so that the installation space is fully utilized, and the flexibility of component arrangement on the circuit board is improved.
For example, in one example of the present embodiment, the target component may include, but is not limited to, at least one of a communication bus terminal and a dial switch. The communication bus terminal in this embodiment may be flexibly selected, and may include, for example, but not limited to, at least one of an RS485 communication terminal, an RS232 communication terminal, a CAN communication terminal, and an Ethercat communication terminal. The type of the dial switch and the functions thereof in the present embodiment may also be flexibly set, for example, a rotary dial switch, a flat dial switch, etc.
For example, in one application scenario, the target component includes a communication bus terminal and a dial switch, where the communication bus terminal and the dial switch are respectively disposed on opposite sides or adjacent sides of the circuit board, and the through slot includes a first through slot and a second through slot that are located on opposite sides or adjacent sides of the end face of the housing and respectively correspond to the communication bus terminal and the dial switch; one end of the communication bus terminal, which is connected with the communication bus plug, is exposed outside through the first through groove, and the dial switch is exposed outside through the second through groove. The following description will be made taking the integrated motor shown in fig. 1 to 7 as an example. In this example, an RS485 communication terminal 122 and a dial switch 123 as communication bus terminals are provided on the circuit board 12 of the drive control apparatus 2, and are provided on the end face of the housing 13 in a first through groove 136 and a second through groove 135, and one end of the RS485 communication terminal 122 connected to the communication bus plug is exposed outside through the first through groove 136, and the dial switch 123 is exposed outside the housing through the second through groove for dial operation. In this example the RS485 communication terminal 122 has two, one as input and one as output, and the optional RS485 communication terminal 122 is a 3pin terminal. The dial switch 123 in this example is a dial switch of 4pin or more (including, but not limited to, 4pin, 6pin, or 8pin, for example), and functions such as state setting can be achieved by the dial switch of 4pin or more. It should be understood that the specific structure and functions of the RS485 communication terminal and the dial switch 123 in this example can be flexibly set, and are not limited to the specific structure shown in the drawings. The dial switch 123 and the RS485 communication terminal are respectively arranged at two opposite sides of the end face of the housing, which can facilitate the use and configuration of the driver for the user and is helpful for reducing the axial installation space requirement.
In this embodiment, to further reduce the axial installation space requirements and facilitate installation and wiring, at least one of the first and second through slots may be disposed in communication with its adjacent housing side such that it forms a recess structure with respect to the housing side, see fig. 1-7 where the first and second through slots 136 and 135 communicate with their adjacent housing sides to form a recess. Of course, in this embodiment, the first through groove and the second through groove may not be communicated with the adjacent side surfaces of the housing, and only the corresponding openings need to be formed on the end surfaces of the housing.
In some examples of this embodiment, at least a portion of the I/O terminals may also be exposed from the housing end face of the housing to meet the flexible requirements of various installation scenarios. For example, in some application scenarios, a through hole or a through slot for exposing the I/O connection terminal may be provided on the end face of the housing, and each I/O connection terminal provided on the circuit board is exposed from the through hole or the through slot on the end face of the housing, so as to facilitate insertion of an I/O connection plug that is connected with the I/O connection terminal in a matching manner.
Embodiment III:
as described above, the specific connection manner between the drive control apparatus and the stepping motor body in this embodiment may be, but is not limited to, a screw or a buckle. For ease of understanding, the present embodiment is exemplified below with a screw connection structure.
In this embodiment, the drive control apparatus includes at least a housing, a circuit board; the circuit board and the housing are sequentially fixed on the rear end of the stepping motor body from bottom to top. The end face of the rear end of the stepping motor body is provided with a connecting screw hole for connecting with the driving control equipment, the housing and the circuit board are respectively provided with a screw through hole with the positions corresponding to the connecting screw hole, and the connecting screw sequentially passes through the screw through holes on the housing and the circuit board and is screwed into the corresponding connecting screw hole on the end face of the rear end of the stepping motor body, so that the housing, the circuit board and the stepping motor body are connected into a whole;
in the embodiment, two or three connecting screw holes are formed in the end face of the rear end of the stepping motor body, and at least two connecting screw holes are arranged in a diagonal manner; the connection mode saves the space of the circuit board of the integrated motor, and ensures that the integrated motor has compact structure, simple installation and convenient disassembly.
For example, in one example of the present embodiment, among the connection screw holes provided on the end face of the rear end of the stepping motor body, at least one first screw hole penetrating the front end and the rear end of the stepping motor body is included, and the connection screw includes a first screw (which may be referred to as a long screw in the present embodiment) screwed into the first screw hole, the first screw penetrating the front end and the rear end of the stepping motor body. For example, two (or three of course) first screw holes are disposed on the end face of the rear end of the stepper motor body in an application scenario, and two first screw holes are disposed on the end face of the rear end of the stepper motor body in a diagonal manner, for example, two second screw holes are disposed on opposite sides of the central shaft of the rear end of the stepper motor body, so as to ensure stable fixation of the drive control device on the stepper motor body. And at least one of the two first screw holes can directly reuse the screw hole originally arranged on the stepping motor body and used for connecting the stepping motor body, and even can completely reuse the screw hole, thereby further saving the cost and the space occupied by the screw.
For another example, in another example of the present embodiment, the connection screw hole provided on the end face of the rear end of the stepping motor body includes at least one second screw hole that does not penetrate the front end and the rear end of the stepping motor body, and the connection screw includes a second screw screwed into the second screw hole. For example, two (or three, of course) second screw holes (may be referred to as short screws in this embodiment) are provided on the rear end face of the stepper motor body in an application scenario, and the two second screw holes are provided on the rear end face of the stepper motor body in diagonal, for example, the two second screw holes are provided on opposite sides of the central axis of the rear end of the stepper motor body, so as to ensure stable fixation of the drive control apparatus on the stepper motor body.
For another example, in another example of the present embodiment, the connection screw hole provided on the end surface of the rear end of the stepper motor body includes at least one second screw hole that does not penetrate the front end and the rear end of the stepper motor body, and further includes at least one first screw hole that penetrates the front end and the rear end of the stepper motor body, that is, the connection between the drive control apparatus and the stepper motor body is achieved by combining the first screw and the second screw.
For example, in one example, one first screw hole and two second screw holes are provided in the end face of the rear end of the stepping motor body, and the first screw hole and at least one second screw are provided on opposite sides of the central axis of the rear end of the stepping motor body. In another example, two first screw holes and one second screw hole are provided on the end face of the rear end of the stepping motor body, and at least one first screw hole and one second screw hole are provided on opposite sides of the central axis of the rear end of the stepping motor body.
It should be understood that the positions of the above-mentioned connecting screw holes on the rear end face of the motor body can be flexibly determined in this embodiment. For example, in one example, the connecting screw hole is located in the area, close to the intersection of the two side surfaces, on the end surface of the rear end of the stepper motor body, that is, in the corner area, close to the intersection of the two side surfaces, on the end surface of the rear end of the motor body, so that the middle area of the circuit board is fully utilized, and wiring and arrangement of components are facilitated.
In an example of this embodiment, at least one third screw hole for realizing self-connection may be further provided on the end face of the rear end of the stepper motor body, and the third screw hole penetrates through the front end and the rear end of the stepper motor body, so that the third screw is directly screwed from the end face of the rear end of the stepper motor body and penetrates through the front end of the stepper motor body. For example, in one example, two third screw holes may be provided on the rear end face of the stepping motor body.
Optionally, the drive control device in this embodiment further includes a bracket disposed between the circuit board and the rear end face of the stepper motor body, and the bracket may be provided with a screw through hole corresponding to the connection screw hole, where the connection screw sequentially passes through the screw through holes on the casing, the circuit board and the bracket and is screwed into the corresponding connection screw hole on the rear end face of the stepper motor body, so as to connect the casing, the circuit board and the bracket with the stepper motor body as a whole.
For ease of understanding, the present embodiment is further exemplarily described below with reference to the accompanying drawings. Referring to fig. 1 to 9, a connection screw hole for connection with a drive control device is provided on a rear end face 20 of the stepper motor body, and correspondingly, screw through holes corresponding to the connection screw holes on the rear end face of the stepper motor body are provided on the housing 13, the circuit board 12 and the bracket 11, respectively, and the connection screws sequentially pass through the screw through holes on the housing 13, the circuit board 12 and the bracket 11 and are screwed into the corresponding connection screw holes on the rear end face of the stepper motor body, thereby connecting the housing 13, the circuit board 12 and the bracket 11 with the stepper motor body 2 as a whole.
In this example, of the two screw holes provided on the end face of the rear end of the stepping motor body, a first screw hole 242 penetrates the front and rear ends of the stepping motor body, and a first screw screwed into the first screw hole 242 penetrates the front and rear ends of the stepping motor body, such screw will be hereinafter referred to as a long screw 131; of course in some examples the long screw 131 may not extend through the front end of the stepper motor body; the second screw hole 241 does not penetrate the front and rear ends of the stepping motor body, and screws screwed into the second screw hole 241 do not penetrate the front and rear ends of the stepping motor body, and hereinafter such screws are referred to as short screws 132.
In this embodiment, the long screw 131 sequentially passes through the screw through holes on the housing 13, the circuit board 12 and the bracket 11, and is screwed into the corresponding first screw hole 242 on the rear end face of the stepper motor body 2, and passes through the front end and the rear end of the stepper motor body 2, the short screw 132 sequentially passes through the screw through holes on the housing 13, the circuit board 12 and the bracket 11, and is screwed into the corresponding second screw hole 241 on the rear end face of the stepper motor body 2, and does not pass through the front end and the rear end of the stepper motor body 2, and the housing 13, the circuit board 12 and the bracket 11 are connected with the stepper motor body 2 into a whole in such a screw connection manner, and at this time, the magnetic encoder 125 on the circuit board 12 forms magnetic fit with the magnetic sheet 24 in the second through hole 22 through the first through hole 110.
In this embodiment, the stepper motor body 2 and the drive control device 1 are fixedly connected by adopting two screws, and correspondingly, only two screw through holes are required to be arranged on the circuit board, so that the connection mode saves the space of the circuit board of the integrated motor, and the integrated motor is compact in structure, simple to install and convenient to detach.
Of course, it should be understood that the present embodiment is not limited to the connection of the drive control device to the stepper motor body using a long screw and a short screw. For example, in one example of the present embodiment, two long screws may be used, two first screw holes 242 penetrating the front end and the rear end of the stepper motor body are correspondingly disposed on the end face 20 of the rear end of the stepper motor body, and the two first screw holes 242 are disposed diagonally, and at this time, screw holes originally disposed on the stepper motor body may be directly multiplexed, or screw holes may be newly started, which may be specifically and flexibly disposed; the two long screws sequentially pass through screw through holes on the housing, the circuit board and the bracket and are screwed into the first screw holes 242 to realize the connection of the drive control equipment and the stepping motor body.
For another example, in another example of the present embodiment, two long screws and one short screw are used to fixedly connect the stepping motor body 2 and the drive control apparatus 1. The screw hole provided on the end face of the rear end of the stepping motor body 2 includes 2 connecting screw holes penetrating the front end and the rear end of the stepping motor body 2 and 1 connecting screw hole not penetrating the front end and the rear end of the stepping motor body 2. The mode only needs to arrange three screw through holes on the circuit board, and compared with the prior art, the effect of saving the space of the integrated motor circuit board is achieved.
For another example, in another example of the present embodiment, three long screws are used to fixedly connect the stepping motor body 2 and the drive control apparatus 1. The connecting screw holes arranged on the end face of the rear end of the stepping motor body 2 are 3 screw holes penetrating through the front end and the rear end of the stepping motor body 2. The mode only needs to arrange three screw through holes on the circuit board, and compared with the prior art, the effect of saving the space of the integrated motor circuit board is achieved.
Of course, in some examples, two or three short screws may be directly used to fixedly connect the stepper motor body 2 and the driving control device 1, or two short screws and one long screw may be used to fixedly connect the stepper motor body 2 and the driving control device 1, which is not described herein.
Of course, in some examples of the present embodiment, it is also possible to provide a slot on the stepper motor body 2 and a corresponding buckle on the bracket 11 or the housing 13, and connect the drive control device 1 with the stepper motor body 2 by the cooperation of the buckle and the slot; or a buckle is arranged on the stepping motor body 2, a corresponding clamping groove is arranged on the bracket 11 or the housing 13, and the connection of the driving control equipment 1 and the stepping motor body 2 is realized through the cooperation of the buckle and the clamping groove.
Embodiment four:
in the present embodiment, an encoder may be integrally provided in the drive control apparatus of the integrated motor, and the encoder may be a magnetic encoder, a photoelectric encoder, or the like. For ease of understanding, the present embodiment is illustrated with a magnetic encoder.
In the drive control device, the magnetic encoder needs to be magnetically matched with the magnetic sheet arranged on the stepping motor body so as to facilitate information acquisition by the magnetic encoder. Therefore, when the drive control device is connected with the stepping motor body to form an integrated motor, the magnetic encoder on the drive control device and the magnetic sheet on the stepping motor body are particularly important to accurately position, and if the magnetic encoder and the magnetic sheet on the stepping motor body cannot form effective magnetic fit after the drive control device and the stepping motor body are connected, the acquisition of information of the magnetic encoder can be influenced, so that the accurate and effective control of the stepping motor body is influenced.
In view of the above, the present embodiment provides an integrated motor structure that ensures accurate positioning of a magnetic encoder on a drive control apparatus and a magnetic sheet on a stepping motor body. The drive control equipment comprises a housing, a circuit board and a bracket, wherein the bracket, the circuit board and the housing are sequentially fixed on the rear end of the stepping motor body from bottom to top, the bracket is contacted with the end face of the rear end of the stepping motor body, and the circuit board is embedded in the housing; the circuit board is the circuit board back with the opposite one side of support, still is provided with the magnetic encoder on the circuit board back, and the region that corresponds with the magnetic encoder on the support is provided with the first through-hole that supplies this magnetic encoder to gather information. The end face of the rear end of the stepping motor body is provided with a second through hole opposite to the concentric positioning boss, a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole, and the integrated motor also comprises a concentric positioning boss which is arranged between the bracket and the rear end of the stepping motor body, concentric with the first through hole and the second through hole and is hollow; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected through the concentric positioning boss, and the magnetic encoder corresponding to the phase position of the first through hole and the magnetic sheet on the motor rear shaft in the second through hole form magnetic fit.
In this embodiment, the concentric positioning boss may be fixedly disposed on the bracket, or may be fixedly disposed on the rear end face of the stepping motor body. For ease of understanding, the following description will be given with four setting examples, respectively.
Example one: one surface of the bracket, which is close to the stepping motor body, is the back surface of the bracket, and the concentric positioning boss is arranged around the first through hole on the back surface of the bracket; the inner diameter of the opening of the second through hole close to the back of the bracket is matched with the outer diameter of the concentric positioning boss; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second through hole, so that the alignment connection of the first through hole and the second through hole is realized; because concentric positioning boss and confession magnetic encoder penetrate the concentric setting of first through-hole of collection information, and it is easy to process, and machining precision is high. Meanwhile, the second through hole arranged on the end face of the rear end of the stepping motor body is easy to process and the processing precision can be well guaranteed, so that the magnetic encoder penetrating into the first through hole and the magnetic sheet in the second through hole can be guaranteed to be accurately aligned to form effective magnetic matching through the concentric positioning boss and the second through hole, and the accurate acquisition of the information of the magnetic encoder is guaranteed. Optionally, in this example, an annular step may be further disposed on a side surface of the ring inside the second through hole, so that the concentric positioning boss is used as a protection step surface when embedded in the second through hole, so as to avoid damage caused by too deep insertion into the second through hole, and further improve the reliability of the transfer.
Example two:
the concentric positioning boss is arranged around the first through hole on the back surface of the bracket; a second concentric positioning groove with the diameter matched with the diameter of the concentric positioning boss is formed on the end face of the rear end of the stepping motor body around the second through hole; when the support is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second concentric positioning groove, so that the alignment connection of the first through hole and the second through hole is realized, and the magnetic encoder penetrating into the first through hole and the magnetic sheet in the second through hole are ensured to be accurately aligned to form effective magnetic fit.
Example three: the concentric positioning boss is arranged around the second through hole on the end face of the rear end of the stepping motor body; the inner diameter of the opening of the first through hole, which is close to the end face of the rear end of the stepping motor body, is matched with the outer diameter of the concentric positioning boss; when the support is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the first through hole, so that the alignment connection of the first through hole and the second through hole is realized. Alternatively, in this example, an annular step may be provided on the ring side surface inside the first through hole, so that the concentric positioning boss serves as a protection step surface when it is embedded in the first through hole.
Example four:
the concentric positioning boss is arranged around the second through hole on the end face of the rear end of the stepping motor body; a first concentric locating groove with the diameter matched with the diameter of the concentric locating boss is arranged on the back surface of the bracket around the first through hole; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected when the concentric positioning boss is embedded into the first concentric positioning groove.
Of course, in this embodiment, the concentric positioning boss may be neither fixed to the support, nor fixed to the end face of the rear end of the stepper motor body, and may be used as a flexible positioning member, where the outer diameters of the two ends of the concentric positioning boss are respectively matched with the inner diameters of the first through hole and the second through hole, and the two ends of the concentric positioning boss are respectively embedded into the first through hole and the second through hole during assembly to realize alignment connection between the first through hole and the second through hole. Alternatively, in this example, annular steps may also be provided on the ring side surfaces inside the first through hole and the second through hole, respectively, so that the concentric positioning bosses serve as protection step surfaces when they are embedded in the first through hole and the second through hole.
In this embodiment, the magnetic sheet on the motor rear shaft rotates along with the rotation of the motor rear shaft, and the fixing manner of the magnetic sheet on the motor rear shaft can be flexibly set. For ease of understanding, the following description is provided in connection with a fixed example. In this example, be provided with fixed cover on the motor rear axle, fixed cover's one end cup joints on the motor rear axle is close to the one end of support for fixed cover rotates along with the rotation of motor rear axle, and the internal diameter of fixed cover's the other end matches with the magnetic sheet external diameter, and the magnetic sheet block is in fixed cover, thereby makes the magnetic sheet rotate along with the rotation of motor rear axle with fixed cover.
In another example of the embodiment, a fixing hole with an inner diameter matched with the outer diameter of the magnetic sheet is formed in one end, close to the bracket, of the motor rear shaft, and the magnetic sheet is clamped in the fixing hole, so that the magnetic sheet and the fixing sleeve rotate together with the rotation of the motor rear shaft.
For ease of understanding, the present embodiment is still exemplified below with the integrated motor structure shown in fig. 1 to 7.
Referring to fig. 3 to 5, a magnetic encoder 125 is provided on the back surface of the circuit board 12 of the drive control apparatus, a first through hole 110 opposite to the magnetic encoder 125 is provided on the bracket 11, a concentric positioning boss 115 is provided around the first through hole 110 on the back surface of the bracket, a second through hole 22 is provided at the rear end of the stepping motor body 2, a motor rear shaft 21 of the stepping motor body 2 is provided in the second through hole 22, and an annular step 221 is provided on the ring side surface inside the second through hole 22. The stepper motor body further comprises a fixing sleeve 23, the material of the fixing sleeve 23 can be flexibly set, for example, a copper fixing sleeve and the like can be adopted, one end of the fixing sleeve 23 is sleeved on the motor rear shaft 21, the inner diameter of the other end is matched with the outer diameter of the magnetic sheet 24, the magnetic sheet 24 is a circular magnetic sheet, and the magnetic sheet 24 is clamped in the fixing sleeve 23. Of course, the magnetic sheet 24 is not limited to a circular magnetic sheet, and its specific shape may be flexibly changed as long as it can form an effective magnetic fit with the magnetic encoder 125 along with the rotation of the motor rear shaft 21 for accurate information acquisition by the magnetic encoder. When the motor is installed, the concentric positioning boss 115 is embedded into the second through hole 22, the annular step 221 plays a role in protecting, and the magnetic encoder 125 corresponding to the phase position of the first through hole 110 is in magnetic fit with the magnetic sheet 24 on the motor rear shaft 21.
In this embodiment, in order to further achieve accurate positioning, assembly accuracy is ensured. Optionally, at least one first auxiliary positioning hole may be provided on the end face of the rear end of the stepper motor body, and the first auxiliary positioning hole may be provided at any position around the second through hole 22, and a first auxiliary positioning column corresponding to the first auxiliary positioning hole is further provided on the back of the bracket, so that the first auxiliary positioning column is embedded into the first auxiliary positioning hole when the bracket is fixed at the rear end of the stepper motor body. Therefore, when the magnetic encoder penetrating into the first through hole is guaranteed to be aligned with the magnetic sheet in the second through hole through the concentric positioning boss in an alignment manner to form effective magnetic fit, the assembly precision between the first auxiliary positioning hole and the first auxiliary positioning column is further improved through the fit between the first auxiliary positioning hole and the first auxiliary positioning column, and the phenomenon that the assembly is not accurate enough due to relative rotation between the support and the stepping motor body in the process of rotation is avoided.
For example, in one example, the first auxiliary positioning hole provided on the rear end face of the stepping motor body may be one. In another example, the first auxiliary positioning holes provided on the end surface of the rear end of the stepper motor body may include at least two first auxiliary positioning holes, and the at least two first auxiliary positioning holes are respectively located at two sides of the second through hole; the number of the first auxiliary positioning columns is equal to that of the first auxiliary positioning holes, and the first auxiliary positioning columns are matched with the first positioning holes one by one in number and position.
Optionally, in this embodiment, a surface of the support far away from the stepper motor body is a front surface of the support, a second auxiliary positioning column is provided on the front surface of the support, a second auxiliary positioning hole corresponding to the second auxiliary positioning column in position is provided on the circuit board, and when the circuit board is installed, the second auxiliary positioning column is embedded into the second auxiliary positioning hole to fix the circuit board. The cooperation of second auxiliary positioning post and second auxiliary positioning hole has both realized the fixed of circuit board, still can realize the location of circuit board simultaneously for the magnetic encoder on the circuit board cooperates with first through-hole accuracy. In order to improve the positioning accuracy, the first auxiliary positioning column and the second auxiliary positioning column can be arranged at positions corresponding to each other.
For ease of understanding, the present embodiment is still exemplified below with the integrated motor structure shown in fig. 1 to 7. Two first auxiliary positioning holes 25 are provided on the stepping motor body rear end face 20, and the two first auxiliary positioning holes 25 are provided diagonally on the stepping motor body rear end face 20. Two first auxiliary positioning columns 111 are arranged on the back of the bracket 11 at positions opposite to the positions of the two first auxiliary positioning holes 25, two second auxiliary positioning columns 112 are arranged on the back of the bracket 11 at positions opposite to the positions of the first auxiliary positioning holes 25, the first auxiliary positioning columns 111 and the second auxiliary positioning columns 112 are coaxially arranged, and second auxiliary positioning holes 127 are arranged on the circuit board 12 at positions opposite to the positions of the second auxiliary positioning columns 112. When the motor is installed, the second auxiliary positioning column 112 passes through the second auxiliary positioning hole 127 on the circuit board 12, the concentric positioning boss 115 is embedded into the second through hole 22, and the magnetic encoder 125 corresponding to the phase position of the first through hole 110 is in magnetic fit with the magnetic sheet 24 on the motor rear shaft 21. The first auxiliary positioning columns 111 are embedded in the corresponding first auxiliary positioning columns 111 on the rear end face 20 of the stepping motor body, and accurately position the bracket 11 and the circuit board 12 together with the concentric positioning bosses 115. Thereby ensuring that the magnetic encoder 125 on the circuit board 12 and the magnetic sheet 24 on the stepping motor body 2 form accurate alignment fit, and further ensuring accurate acquisition of the information of the magnetic encoder 125.
Fifth embodiment:
on the basis of the embodiment, in order to ensure that the magnetic encoder on the drive control device and the magnetic sheet on the stepping motor body are accurately aligned to form effective magnetic fit when the drive control device and the stepping motor body are connected to form an integrated motor. The present embodiment provides another integrated motor structure that ensures accurate positioning of the magnetic encoder on the drive control apparatus and the magnetic sheet on the stepping motor body.
In the embodiment, the surface of the circuit board opposite to the end surface of the rear end of the stepping motor body is the back surface of the circuit board, and a magnetic encoder connected with a drive control circuit is arranged on the back surface of the circuit board;
the end face of the rear end of the stepping motor body is provided with a second through hole, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole; a positioning column is also arranged on the end face of the rear end of the stepping motor body;
the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and has an inner diameter matched with the outer diameter of the positioning column, and when the circuit board is installed, the positioning column penetrates through the second positioning through hole on the circuit board, and a magnetic encoder on the circuit board is magnetically matched with a magnetic sheet in the second through hole; thereby ensuring accurate acquisition of the information of the magnetic encoder.
In one example of the present embodiment, a first circuit board carrying protrusion may be directly disposed on at least one positioning post, and after the positioning post passes through a second positioning through hole on the circuit board, the circuit board abuts against the first circuit board carrying protrusion, that is, the first circuit board carrying protrusion limits and supports the circuit board, so that the circuit board is stably fixed between the rear end of the stepper motor body and the housing.
In another example of this embodiment, at least one second circuit board bearing protrusion is disposed on the end face of the rear end of the stepper motor body, and after the positioning post passes through the second positioning through hole on the circuit board, the circuit board abuts against the second circuit board bearing protrusion, that is, the first circuit board bearing protrusion limits and supports the circuit board, so that the circuit board is stably fixed between the rear end of the stepper motor body and the housing.
It should be understood that in some application scenarios, a first circuit board carrying protrusion may be provided on at least one positioning post at the same time, and at least one second circuit board carrying protrusion is provided on the rear end face of the stepper motor body, so that the limitation and the support of the circuit board are achieved through the first circuit board carrying protrusion and the second circuit board carrying protrusion at the same time.
Optionally, in order to improve reliability and stability of supporting the circuit board, a first circuit board bearing protrusion may be disposed on each positioning column, and the first circuit board bearing protrusion and the positioning column may be made of the same material and may be integrally formed. Different materials may be used.
Optionally, in some examples, the circuit board may be limited and supported by providing at least one second circuit board bearing protrusion on the end surface of the rear end of the stepper motor body, where the second circuit board bearing protrusion may be located around the second through hole in a middle area on the end surface of the rear end of the stepper motor body; of course, the second circuit board bearing protrusions can also be arranged around the edge on the end face of the rear end of the motor body, and the number of the second circuit board bearing protrusions can be flexibly arranged. For example, when the intermediate region on the rear end face of the stepping motor body is disposed around the second through hole, a second circuit board carrying projection having a diameter large enough to stabilize the support for the circuit board may be provided. The second circuit board bearing protrusion in this embodiment may be integrally formed with the rear end of the stepper motor body, or may be separately disposed, and may be made of metal, or may be made of other materials with strength sufficient to meet the requirement of supporting strength.
In another example of the present embodiment, the drive control apparatus may further include a bracket provided between the circuit board and the rear end face of the stepping motor body. The region of the bracket corresponding to the magnetic encoder is provided with a first through hole for the magnetic encoder to collect information; the end face of the rear end of the stepping motor body is provided with a second through hole, the position of which corresponds to that of the first through hole, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole (the specific fixing mode can be the mode of the embodiment but is not limited to the mode shown in the embodiment); the bracket is provided with a first positioning through hole opposite to the positioning column, and the inner diameter of the first positioning through hole can be matched with the outer diameter of the positioning column or slightly larger than the outer diameter of the positioning column; the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position, and the inner diameter of the second positioning through hole is matched with the outer diameter of the positioning column, and when the magnetic encoder is installed, the positioning column sequentially penetrates through the first positioning through hole on the support and the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board forms magnetic fit with the magnetic sheet in the second through hole through the first through hole, so that accurate acquisition of information of the magnetic encoder is ensured.
Optionally, in order to further achieve accurate positioning, assembly accuracy is ensured. In this embodiment, at least one first auxiliary positioning hole may be further disposed on the end face of the rear end of the stepper motor body, and the first auxiliary positioning hole may be disposed at any position around the second through hole 22, and a first auxiliary positioning column corresponding to the first auxiliary positioning hole is further disposed on the back of the bracket, so that the first auxiliary positioning column is embedded into the first auxiliary positioning hole when the bracket is fixed at the rear end of the stepper motor body. Therefore, when the magnetic encoder penetrating into the first through hole is guaranteed to be aligned with the magnetic sheet in the second through hole through the concentric positioning boss in an alignment manner to form effective magnetic fit, the assembly precision between the first auxiliary positioning hole and the first auxiliary positioning column is further improved through the fit between the first auxiliary positioning hole and the first auxiliary positioning column, and the phenomenon that the assembly is not accurate enough due to relative rotation between the support and the stepping motor body in the process of rotation is avoided.
For example, in one example, the first auxiliary positioning hole provided on the rear end face of the stepping motor body may be one. In another example, the first auxiliary positioning holes provided on the end surface of the rear end of the stepper motor body may include at least two first auxiliary positioning holes, and the at least two first auxiliary positioning holes are respectively located at two sides of the second through hole; the number of the first auxiliary positioning columns is equal to that of the first auxiliary positioning holes, and the first auxiliary positioning columns are matched with the first positioning holes one by one in number and position.
Optionally, in this embodiment, a surface of the support far away from the stepper motor body is a front surface of the support, a second auxiliary positioning column is provided on the front surface of the support, a second auxiliary positioning hole corresponding to the second auxiliary positioning column in position is provided on the circuit board, and when the circuit board is installed, the second auxiliary positioning column is embedded into the second auxiliary positioning hole to fix the circuit board. The cooperation of second auxiliary positioning post and second auxiliary positioning hole has both realized the fixed of circuit board, still can realize the location of circuit board simultaneously for the magnetic encoder on the circuit board cooperates with first through-hole accuracy. In order to improve the positioning accuracy, the first auxiliary positioning column and the second auxiliary positioning column can be arranged at positions corresponding to each other.
It should be understood that the forming manner of the positioning post on the rear end face of the stepper motor body in this embodiment can be flexibly selected. For example, the positioning post can be integrally formed with the stepper motor body. In another example of the embodiment, the positioning column may adopt a pin, a pin hole for inserting the pin is provided on the end face of the rear end of the stepper motor body to fix the pin, and when the stepper motor is installed, the pin passes through the second positioning through hole on the circuit board, or the pin sequentially passes through the first positioning through hole on the bracket and the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board is magnetically matched with the magnetic sheet in the second through hole; thereby ensuring accurate acquisition of the information of the magnetic encoder.
In the above examples of the present embodiment, the number of the positioning posts provided on the end face of the rear end of the stepping motor body may be flexibly set, and the positions of the positioning posts on the end face of the rear end of the stepping motor body may also be flexibly set, for example, any positions around the second through holes on the end face of the rear end of the stepping motor body may be flexibly set. For ease of understanding, the following positioning posts are implemented by way of pins, described in connection with one example of an arrangement. In this example, two pin holes are provided on the end face of the rear end of the stepping motor body, and at least two pin holes are located on opposite sides of the second through hole, respectively. The pins are in one-to-one correspondence with the pin holes in number and positions. In this embodiment, the number of pins and pin holes can be flexibly set, and the material and shape of the pins can be flexibly set.
For example, in one example of the present embodiment, three pin holes are provided on the rear end face of the stepping motor body, the centers of the three pin holes being not on a straight line.
For another example, in one example of the present embodiment, two pin holes are provided on the rear end face of the stepping motor body, the two pin holes being disposed diagonally.
For another example, in one example of the present embodiment, four pin holes are provided on the end face of the rear end of the stepping motor body, and the connection lines of the four pin holes enclose a rectangle.
For ease of understanding, the present embodiment is exemplified below with the integrated motor structure shown in fig. 8 to 9.
Referring to fig. 8 to 9, a magnetic encoder 125 is provided on the back surface of the circuit board 12 of the drive control apparatus, a first through hole 110 corresponding to the position of the magnetic encoder 125 is provided on the bracket 11, first positioning through holes 116 corresponding to the number and the position of pins are provided on the bracket 11, second positioning through holes 128 corresponding to the number and the position of pins are provided on the circuit board 12, a second through hole 22 is provided at the rear end of the stepping motor body 2, and the motor rear shaft 21 of the stepping motor body 2 is disposed in the second through hole 22. The stepper motor body further comprises a fixing sleeve 23, the material of the fixing sleeve 23 can be flexibly set, for example, a copper fixing sleeve and the like can be adopted, one end of the fixing sleeve 23 is sleeved on the motor rear shaft 21, the inner diameter of the other end is matched with the outer diameter of the magnetic sheet 24, the magnetic sheet 24 is a circular magnetic sheet, and the magnetic sheet 24 is clamped in the fixing sleeve 23. Of course, the magnetic sheet 24 is not limited to a circular magnetic sheet, and its specific shape may be flexibly changed, as long as it can form an effective magnetic fit with the magnetic encoder 125 along with the rotation of the motor rear shaft 21, so as to allow the magnetic encoder to perform accurate information collection, and a pin hole (not shown) and a pin 26 disposed in the pin hole are provided on the rear end face 20 of the stepping motor body. During installation, the pins 26 on the end face 20 at the rear end of the stepping motor body sequentially pass through the corresponding first positioning through holes 116 on the bracket 11 and the corresponding second positioning through holes 128 on the circuit board 12, and the magnetic encoder 125 corresponding to the phase position of the first through holes 110 and the magnetic sheet 24 on the motor rear shaft 21 form accurate magnetic fit, so that accurate acquisition of information of the magnetic encoder 125 is ensured.
Of course, it should be understood that the positioning column and the positioning through hole combined positioning structure in the present embodiment can be flexibly combined with the concentric positioning boss in the third embodiment to realize accurate positioning of the bracket and the circuit board, so as to reduce the installation deviation of the magnetic encoder as much as possible, improve the accuracy of the information acquisition of the magnetic encoder, and further ensure that accurate control of the stepping motor body is realized according to the information acquired by the magnetic encoder.
Example six:
in one example of this embodiment, a winding through hole is further provided on the bracket, the winding through hole is used for connecting the winding of the stepper motor body with the circuit board, and/or a notch is provided on the bracket near at least one side surface for connecting the winding of the stepper motor body with the circuit board. The length of the winding wire for connecting the stepping motor body and the circuit board is greatly shortened compared with the scheme that the existing driver is separated from the motor body, so that the cost can be reduced, and the anti-interference performance is improved. And the shape and the specific setting position of the winding through hole in the embodiment can be flexibly set.
For example, referring to the integrated motor structure shown in fig. 4, a winding wire (not shown) on the stepping motor body 2 is provided with a winding wire through hole 117 on the bracket 11, and the winding wire through hole 117 can pass through and be connected with a corresponding connection point on the circuit board 12.
In this embodiment, the support is kept away from the one side of step motor body and is the support front, still is provided with the support boss on the support front, and the circuit board back supports and leans on to form components and parts accommodation space with the support front between when installing, and components and parts on the circuit board back are located this components and parts accommodation space. In this embodiment, the top end of the second auxiliary positioning post is higher than the supporting surface (i.e. the surface contacting the circuit board) of the supporting boss. The number of the supporting bosses arranged on the front surface of the support in the embodiment and the specific setting are flexibly arranged. For example, at least two supporting bosses can be arranged on the front surface of the bracket, and the at least two supporting bosses are positioned on two opposite sides of the front surface of the bracket so as to form effective support for the circuit board; or simultaneously arranging support bosses on two opposite sides of the front surface of the bracket and in the middle area of the front surface of the bracket; or at least one annular support boss is provided only in the intermediate region on the front face of the bracket to form a support with the circuit board. For example, in one example, an annular support boss or polygonal support boss (e.g., which may include, but is not limited to, a polygonal support boss having a triangular, quadrangular, hexagonal cross-section, etc.) may be provided in a middle region on the front surface of the bracket, where the inner diameter is large enough to smoothly support the circuit board, and of course, more than two annular support bosses or polygonal support bosses may be provided having relatively small inner diameters and being positioned in a distribution sufficient to smoothly support the circuit board.
For example, referring to the integrated motor structure shown in fig. 3-9, a support boss 113 is provided on the bracket 11, and a back surface of the circuit board 12 abuts against a gap between the support boss 113 and the bracket 11 to form a component accommodating space when mounted, and components provided on the back surface of the circuit board 12 are located in the component accommodating space. Optionally, in order to reduce the size of the driving control apparatus as much as possible, for a component having a larger size that is disposed on the back surface of the circuit board 12, when the size of the component is larger than the component accommodating space, a placement through hole may be disposed on the bracket at a position opposite to the component for accommodating the electronic component. For example, as shown in fig. 3 to 8, a placement through hole 114 is provided on the bracket 11, and the placement through hole 114 is penetrated by a corresponding electronic component on the back surface of the circuit board 12, so that the axial dimension of the assembled circuit board 12 and the bracket 11 is reduced, and the integration level of the driving control device is improved.
In this embodiment, a housing height positioning boss may also be disposed on the inner side of the housing, and when the circuit board is mounted, the front surface of the circuit board abuts against the housing height positioning boss to form a component accommodating space with the inner side surface of the end surface of the housing, and the component on the front surface of the circuit board is located in the component accommodating space. Therefore, the circuit board can be fastened and fixed by the cover shell height positioning boss and the supporting boss on the bracket. The specific number and arrangement of the housing height positioning bosses in this embodiment may be flexibly set, for example, in an example, the number and positions of the housing height positioning bosses may correspond to the support bosses on the bracket one by one. In this embodiment, for the component with a larger size on the front surface of the circuit board, the component may be disposed in a concave accommodating space with a matched size inside the end surface of the housing to accommodate the component. For example, referring to the integrated motor structure shown in fig. 3-8, a housing height positioning boss 138 is disposed on the inner side of the housing 13, and when the integrated motor structure is installed, the front surface of the circuit board 12 abuts against a gap between the housing height positioning boss and the housing 13 to form a component accommodating space, and components disposed on the front surface of the circuit board 12 are located in the component accommodating space. An accommodating space for accommodating the capacitor 124 is formed in the inner side of the end face of the housing, so that components with larger sizes such as the capacitor 124 can be placed, and the integration level of the driving control equipment is further improved.
Referring to fig. 3-9, in the embodiment, an indicator light 133 may be further disposed on the front surface of the circuit board 12, and an indicator light window 134 may be further disposed on the end surface of the housing 13, so that the light emitted by the indicator light 133 on the circuit board 12 can be seen through the indicator light window 134, so as to know the working condition of the indicator light 133. The indicator light may be an indicator light for indicating various alarm information or operating conditions.
In some examples of this embodiment, a display unit window is provided on the housing for mounting a display unit that is connected to a drive control circuit on the circuit board for displaying various information, including but not limited to various status and/or alarm information, and the display unit in this embodiment may be a liquid crystal display unit or an OLED display unit. It should be understood that, in this embodiment, the indicator light window and/or the display unit window may be flexibly selected and set on the housing according to the requirements.
In one example of the present embodiment, the bracket 11 may be, but is not limited to, an insulating material bracket, such as, but not limited to, various plastic brackets or ceramic brackets, or the like.
In one example of the present embodiment, the bracket 11 may be, but is not limited to, a low heat conductive material bracket with a heat conductivity lower than a preset heat conductivity threshold, so that heat between the circuit board 12 and the stepper motor body 2 may be isolated, and heat resistance and reliability of the integrated motor may be improved.
In the present embodiment, the dimensions among the bracket 11, the circuit board 12, and the housing 13 can be flexibly set. In one example, after the bracket 11, the circuit board 12, and the housing 13 are sequentially fixed to the rear end of the stepper motor body 2 from bottom to top, at least one side of the bracket is located in the housing, that is, at least one side of the bracket is exposed out of the housing, and various information can be set on the side, such as setting of product model, performance, LOGO information, and the like, and can also be used for setting other identification information, and the like. For example, referring to fig. 1-2, the bracket 11 of the integrated motor shown in this figure has only one side exposed out of the housing and may be flush or substantially flush with the side of the housing. For another example, referring to the integrated motor shown in fig. 10, the bracket 11 of the integrated motor is shown with two sides exposed out of the housing and aligned or substantially flush with the sides of the housing, and the other two sides are located in the housing. Of course, in other examples, the stand of the integrated motor may have three sides with four sides (i.e., all sides) exposed out of the housing and may be flush or substantially flush with the sides of the housing. The arrangement ensures the integration of the integrated motor after installation and can flexibly set various information.
Embodiment seven:
the drive control device can constantly carry out energy conversion in the working process, loss exists in the energy conversion process, and most of loss can be converted into heat to be emitted. In order to prevent the operation of the stepping motor from being affected in an environment with too high temperature for a long time and reduce the service life of the stepping motor, the embodiment also provides a heat dissipation structure capable of effectively dissipating heat generated in the working process of the driving control equipment on the basis of the integrated motor structure shown in the above embodiments.
Referring to fig. 1-9, the housing 13 includes a housing body, the circuit board 12 is disposed in the housing body, and at least one heat conducting boss 137 corresponding to a region of the heating component 126 on the circuit board 12 is disposed inside the housing body, and the heat conducting boss 137 extends toward the circuit board 12. In the operation process of the integrated motor, the heating element of the drive control circuit generates heat to raise the temperature, so that the position of the heat conduction boss 137 in the embodiment corresponds to the area where the heating element 126 on the circuit board 12 is located, so that the heat generated by the heating element 126 can be conducted to the housing body through the heat conduction boss 137, and further the heat is dissipated to the air through the housing body, thereby achieving the heat dissipation effect.
Optionally, in this embodiment, the heat-conducting boss 137 and the heat-generating component 126 on the circuit board 12 may be in direct contact, so that rapid heat conduction is facilitated, in some examples, a heat-conducting medium may be disposed between the heat-generating component 126 and the heat-conducting boss 137, and the heat-conducting medium may be a heat-conducting medium material with good heat-conducting performance and elasticity, so as to ensure heat-conducting efficiency, and meanwhile, improve reliability of assembly, and avoid damage to the heat-generating component caused by the heat-conducting boss. In this embodiment, one heat conducting boss 137 may correspond to a plurality of heat generating components 126, or a plurality of heat conducting bosses 137 may correspond to one heat generating component 126, or one heat conducting boss 137 may correspond to one heat generating component 126. The device can be flexibly arranged according to requirements. For example, in one example, the number of the heat-conducting bosses 137 and the number of the heat-generating components 126 on the circuit board 12 may be equal, so that each heat-generating component 126 corresponds to one heat-conducting boss 137, which increases the heat-conducting area of the drive control device, so that the heat-conducting bosses 137 contacted with the heat-generating components 126 can conduct heat to air through natural heat exchange, that is, conduct heat dissipation, thereby avoiding heat accumulation of the heat-generating components in continuous operation and affecting the service life of the integrated motor.
The case end surface of the case 13 is a surface facing the rear end surface 20 of the stepping motor body, the case side surface of the case 13 is a surface parallel to the motor rear shaft 21, and the heat conduction boss 137 is formed to extend from the inside of the case body end surface toward the circuit board 12. Of course, in some examples, at least one thermally conductive boss may also be formed extending from the inner side of the housing toward the circuit board 12.
In the present embodiment, the heat conducting boss 137 is made of a metal material, including but not limited to a metal material with good heat conducting property such as aluminum alloy, copper, iron, silver, etc.; of course, other materials with good heat conductivity may be used, and the material is not limited to the metal materials described above. In one example, the material of the thermally conductive boss 137 and the material of the housing body may be the same, although different materials may be used. The housing body and the heat conduction boss can be produced by adopting an integrated forming process, so that the processed housing body and heat conduction boss are integrated, the installation is convenient, and the production efficiency can be improved.
In the embodiment, the metal or other material housing with the heat dissipation function is adopted, so that the heat dissipation of the circuit board is facilitated, the heat generated by the operation of the stepping motor is reduced, and the stability of the product is improved.
Optionally, in an example of this embodiment, at least one group of heat dissipation fins may be further disposed on an outer side of the housing body, for example, a group of heat dissipation fins is disposed on an end face of the housing, so that convection is formed between an interior of the driving control device and air, heat dissipation is performed by adopting the heat dissipation fins on the basis of the heat conduction boss, and heat dissipation effect of the driving control device of the integrated motor is ensured by dual heat dissipation, so that heat dissipation effect is further improved.
Example eight:
in addition, although the stepping motor has been widely used, the stepping motor currently in common use is not capable of operating in various modes like a general direct current motor. The current stepping motor has a single working mode, usually works in a pulse/direction control mode, and a control system consisting of a pulse signal, a power driving circuit and the like is needed to be used. Because the working mode of the device is single, the device brings inconvenience to a plurality of applications and even limits the application of the device in a plurality of occasions.
Accordingly, the present embodiment provides a stepper motor control apparatus, as shown in fig. 13, which includes a data interaction module 1301, a data processing module 1302, and a control module 1303 that are sequentially connected in communication;
The data interaction module 1301 performs data interaction with an upper controller (which may be an upper controller independent of the drive control device or a controller integrated in a drive control circuit of the drive control device) of the stepper motor (i.e., the stepper motor body) to obtain data or instructions. The data interaction module 1301 in this embodiment may implement interaction of data or instructions with the upper controller based on a communication bus terminal or a communication interface inside the drive control apparatus.
The data processing module 1302 analyzes the data or the instruction acquired by the data interaction module 1301 and sends the analyzed data or instruction to the control module 1303; the stepper motor in this embodiment supports at least two of a moment working mode, a position working mode, a bus communication control working mode and a programmable operation working mode, and the control module 1303 controls the stepper motor to work in the corresponding working mode according to the received data or instructions. The data processing module 1302 in this embodiment may be implemented by, but is not limited to, a circuit or chip capable of implementing data or instruction parsing. The control module 1303 in this embodiment may be implemented by various microprocessors, including but not limited to, LPC11C00 series microcontrollers from encarpium semiconductors, for example, and a texas instruments model TMS320F28030/28031/28032/28033/28034/28035 microcontroller; the microprocessor 11 may also employ, but is not limited to, an X86 chip from Intel corporation, an i960 chip, or an Am386EM from AMD corporation, an SH RISC chip from Hitachi, etc.; the peripheral circuit can be flexibly set according to requirements, and can comprise at least one of RAM, ROM, a timer, interrupt scheduling and the like.
The control module 1303 in this embodiment includes a closed-loop control unit, an analog-to-digital conversion unit, a filtering unit, a track smoothing unit, a motion track generating unit, an instruction storing and reading control unit, and a working mode control unit, where the closed-loop control unit includes only a current loop closed-loop control unit and a position loop closed-loop control unit;
the working mode control unit calls a current loop closed-loop control unit, a position loop closed-loop control unit, an analog-to-digital conversion unit, a filtering unit, a track smoothing unit, a motion track generating unit, an instruction storage and reading control unit and a corresponding unit in the working mode control unit to control the stepping motor to work in a corresponding working mode.
Referring to fig. 13, the stepper motor control apparatus in the present embodiment further includes at least one of an alarm module 1304 and a protection module 1305 respectively connected to the control module;
the alarm module 1304 provides an alarm when the set alarm condition is met according to the working state of the stepping motor; the alarm module 1304 in this embodiment may be implemented by various alarm prompting units, such as the above indicator lamps and corresponding alarm control circuits.
The protection module 1305 provides protection when a set protection condition is satisfied according to the operation state of the stepping motor. The protection module 1305 may be used to provide protection for an integrated motor in power down, over-voltage, under-voltage, over-temperature, limit, etc. The protection module in this embodiment may be implemented by, but not limited to, various power-down protection circuits, overvoltage protection circuits, undervoltage protection circuits, over-temperature protection circuits, and limit protection circuits.
The stepper motor in this embodiment supports at least two of a torque operation mode, a position operation mode, a bus communication control operation mode, and a programmable operation mode and can support switching between different operation modes; meanwhile, the closed-loop control unit in the embodiment only comprises a current loop closed-loop control unit and a position loop closed-loop control unit, and omits the speed change closed-loop control unit, when PI (Proportional Integral) parameters of a speed loop are needed, the speed can be determined according to the position increment, the characteristic that PID (Proportion Integration Differentiation) operation results of the position loop are equivalent to PI parameters of the position loop plus PI parameters of the speed loop is utilized, the control output of the current loop closed-loop control unit and the position loop closed-loop control unit is utilized instead of the control output of the current loop closed-loop control unit, the position loop closed-loop control unit and the speed change closed-loop control unit, the same control effect of the current three closed-loop control units can be achieved on the premise that the speed change closed-loop control unit is omitted, and the resource utilization rate is improved while the control is simplified.
The control module 1303 controls the stepper motor to work in a corresponding working mode according to the received data or instructions. For example, in one example of the present embodiment, the stepper motor supports a torque operation mode, and when in the torque operation mode, the operation mode control unit may invoke the current loop closed loop control unit, the analog-to-digital conversion unit, and the filtering unit to control the stepper motor to operate in the torque operation mode.
In this embodiment, in the supporting moment working mode, the output of the stepper motor is the required moment, the working mode control unit invokes the current loop closed loop control unit, the analog-to-digital conversion unit and the filtering unit, and two control modes including an analog quantity reference input mode and a user command input mode CAN be adopted, wherein the analog quantity reference input mode allows a user to set the output moment/analog input voltage ratio, the analog voltage offset value and the dead zone value, and the user command input mode allows the user to directly set the output moment by using the communication modes such as the RS232 communication terminal, the RS485 communication terminal, the CAN communication terminal, the Ethercat communication terminal and the like by using the command supported by the motor.
In one example of the present embodiment, the stepper motor supports a position operation mode, and when in the position operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, and the trajectory smoothing unit. In the position mode, the working mode control unit can determine the speed through the position increment acquired by the position loop closed-loop control unit so as to realize PI or PID control related to the speed loop. The motor can rotate to the appointed absolute distance or relative distance, the working mode control unit calls a current loop closed-loop control unit, a position loop closed-loop control unit, an analog-to-digital conversion unit and a track smoothing unit, and the working mode control unit can comprise two control modes including, but not limited to, an analog quantity reference input mode and a pulse input mode, wherein the analog quantity reference input mode allows a user to set the running step number/analog input voltage proportion, an analog voltage offset value and a dead zone value, and the pulse input mode allows the user to control the motor in a pulse mode and simultaneously supports the input of three pulse signals, namely a pulse/direction signal, a forward pulse/reverse pulse signal and an orthogonal pulse signal.
In one example of the present embodiment, the stepper motor supports a bus communication control operation mode, and when in the bus communication control operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the filtering unit, and the motion trail generation unit. In the bus communication control working mode, when the working mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the filtering unit and the motion trail generation unit, a user CAN call instructions supported by the motor through communication modes such as an RS232 communication terminal, an RS485 communication terminal, a CAN communication terminal, an Ethercat communication terminal and the like by using an upper computer or a control board. And the working mode control unit can determine the speed through the position increment acquired by the position loop closed-loop control unit so as to realize PI or PID control related to the speed loop.
In one example of the present embodiment, the stepper motor supports a programmable operation mode, and when in the programmable operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the motion trail generation unit, and the instruction storage and reading control unit. In a programmable operating mode, the operating mode control unit can determine the speed through the position increment acquired by the position loop closed-loop control unit so as to realize PI or PID control related to the speed loop. A user can use upper computer software to solidify a series of control instructions supported by the motor into a storage unit in the motor drive, and the motor can automatically run according to the written instructions.
In this embodiment, the above several operation modes may support the setting of the I/O terminal functions, including but not limited to enabling a motor, limiting inputs, starting/stopping operation, identifying internal operation states, conditional inputs and outputs, and so on.
It should be understood that the stepping motor control device provided in this embodiment may be integrally provided in a drive control apparatus of an integrated motor, which may be, but is not limited to, the integrated motor shown in fig. 1 to 10. Of course, the stepper motor control device in this embodiment may also be integrally disposed in a driver having a separate stepper motor body and driver. The stepping motor control device provided by the embodiment can enable the stepping motor to support multiple working modes, and can only utilize the current loop closed-loop control unit and the position loop closed-loop control unit to realize the working and switching of the stepping motor under the multiple working modes, so that the functions and the application range of a stepping motor motion system are greatly enriched, and the application occasions of the stepping motor are expanded.
Example nine:
the embodiment also provides an automatic control system, which comprises an executing mechanism and the integrated motor shown in the above embodiments, wherein the stepping motor main body is connected with the executing mechanism, and the driving control equipment controls the executing mechanism to execute corresponding actions through the stepping motor main body. The actuators in this embodiment may include, but are not limited to, those used to effect sculptures, medical device control, robotic devices, and the like.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (19)
1. The driving control equipment of the integrated stepping motor is characterized by comprising a housing and a circuit board, wherein the circuit board and the housing are sequentially fixed on the rear end of the stepping motor body from bottom to top, and the circuit board is embedded in the housing;
the circuit board is provided with a drive control circuit, the drive control circuit comprises a storage unit, the circuit board is also provided with a communication bus terminal for communicating with the outside, the surface of the circuit board opposite to the rear end of the stepping motor body is the back surface of the circuit board, and the back surface of the circuit board is also provided with a magnetic encoder;
the magnetic encoder on the circuit board and the magnetic sheet in the second through hole form magnetic fit;
The driving control circuit is used for controlling the stepping motor to run at a preset speed in an open loop state in a correction stage of the magnetic encoder, acquiring a speed increment in a preset time interval after the stepping motor runs stably at the preset speed, and acquiring correction compensation parameters caused by assembly deviation of the magnetic encoder according to the speed increment for storage.
2. The drive control apparatus of an integrated stepping motor according to claim 1, wherein acquiring correction compensation parameters due to the magnetic encoder assembly deviation from the speed increment for storage comprises:
obtaining harmonic components from the speed increment through Fourier transformation, and obtaining correction compensation parameters according to target harmonic components of the harmonic components, which are caused by assembly deviation of the magnetic encoder, and storing the correction compensation parameters;
or according to the corresponding relation table of the speed increment and the preset speed increment and the correction compensation parameter, searching the correction compensation parameter corresponding to the speed increment and storing the correction compensation parameter.
3. The drive control apparatus of an integrated stepper motor as set forth in claim 1, wherein the correction compensation parameter includes at least one of a harmonic amplitude and a harmonic phase value of a target harmonic.
4. The drive control apparatus of an integrated stepper motor as set forth in claim 3, wherein the target harmonic includes at least one of a second harmonic and a fourth harmonic.
5. The drive control apparatus of an integrated stepping motor according to any one of claims 1 to 4, wherein said drive control circuit controls said stepping motor to operate at a preset speed in an open loop state after receiving a magnetic encoder correction start command through said communication bus terminal.
6. The drive control apparatus of an integrated stepping motor according to any one of claims 1 to 4, wherein said communication bus terminal comprises at least one of:
RS485 communication terminal, RS232 communication terminal, CAN communication terminal, ethercat communication terminal.
7. The drive control apparatus of an integrated stepping motor according to any one of claims 1 to 4, wherein a face of the circuit board opposite to a housing end face of the housing is a circuit board front face, the communication bus terminal is provided on the circuit board front face, and a first through groove for exposing the communication bus terminal from the housing end face is provided on the housing end face.
8. The drive control apparatus of an integrated stepping motor according to claim 7, wherein a dial switch is provided on a side of the front surface of the circuit board opposite to the communication bus terminal, and a second through groove for exposing the dial switch from the end surface of the housing is provided on the end surface of the housing.
9. The drive control apparatus of an integrated stepping motor according to any one of claims 1 to 4, wherein said drive control circuit is further configured to acquire a current lead angle and to send said current lead angle to said stepping motor superimposed on a fed-back current angle.
10. The drive control apparatus of an integrated stepper motor as set forth in any one of claims 1 to 4, wherein an I/O connection unit connected to the drive control circuit is further provided on the circuit board, and a connection direction of the I/O connection unit forms an angle with a side surface of the housing and is exposed from the side surface of the housing to the outside of the housing so as to facilitate insertion of an I/O connection plug connected to the I/O connection terminal in a mating manner.
11. An integrated stepping motor is characterized by comprising a stepping motor body and the driving control equipment according to any one of claims 1-10, wherein a connecting screw hole for connecting with the driving control equipment is arranged on the end face of the rear end of the stepping motor body, connecting screw through holes corresponding to the connecting screw hole are respectively arranged on a housing and a circuit board, and connecting screws sequentially penetrate through the connecting screw through holes on the housing, the circuit board and a bracket and are screwed into the corresponding connecting screw holes on the end face of the rear end of the stepping motor body to connect the housing, the circuit board and the stepping motor body into a whole;
The number of the connecting screw holes on the end face of the rear end of the stepping motor body is two or three, and at least two connecting screw holes are arranged in a diagonal mode.
12. The integrated stepper motor of claim 11, wherein a positioning post is further provided on the rear end face of the stepper motor body;
the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and has an inner diameter matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column penetrates through the second positioning through hole on the circuit board, and a magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole;
at least one positioning column is provided with a first circuit board bearing bulge, and the circuit board is propped against the first circuit board bearing bulge after passing through a second positioning through hole on the circuit board;
and/or the number of the groups of groups,
the stepping motor comprises a stepping motor body, wherein the rear end face of the stepping motor body is provided with at least one second circuit board bearing protrusion, and after the positioning column passes through a second positioning through hole in the circuit board, the circuit board abuts against the second circuit board bearing protrusion.
13. The integrated stepper motor of claim 11, wherein the drive control device further comprises a bracket arranged between the circuit board and the rear end face of the stepper motor body, and a first through hole for the magnetic encoder to collect information is arranged in a region corresponding to the magnetic encoder on the bracket; the integrated motor further comprises a concentric positioning boss which is arranged between the bracket and the rear end of the stepping motor body, concentric with the first through hole and the second through hole and hollow in the inner space; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are connected in an aligned mode through the concentric positioning boss, and the magnetic encoder corresponding to the phase position of the first through hole and the magnetic sheet on the motor rear shaft in the second through hole form magnetic fit.
14. The integrated stepper motor of claim 13 wherein a side of the bracket adjacent the stepper motor body is a bracket back, the concentric locating boss being disposed about the first through hole on the bracket back; the inner diameter of the opening, close to the back surface of the bracket, of the second through hole is matched with the outer diameter of the concentric positioning boss; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second through hole, so that the first through hole and the second through hole are connected in an aligned manner;
or alternatively, the first and second heat exchangers may be,
the concentric positioning boss is arranged around the first through hole on the back surface of the bracket; a second concentric positioning groove with the diameter matched with that of the concentric positioning boss is formed on the end face of the rear end of the stepping motor body and surrounds the second through hole; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second concentric positioning groove, so that the first through hole and the second through hole are aligned and connected;
or alternatively, the first and second heat exchangers may be,
the concentric positioning boss is arranged around the second through hole on the end face of the rear end of the stepping motor body; the inner diameter of the opening of the first through hole, which is close to the end face of the rear end of the stepping motor body, is matched with the outer diameter of the concentric positioning boss; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the first through hole, so that the first through hole and the second through hole are connected in an aligned manner;
Or alternatively, the first and second heat exchangers may be,
the concentric positioning boss is arranged around the second through hole on the end face of the rear end of the stepping motor body; a first concentric positioning groove with the diameter matched with that of the concentric positioning boss is formed on the back surface of the bracket around the first through hole; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected when the concentric positioning boss is embedded into the first concentric positioning groove.
15. The integrated stepper motor of claim 11, wherein the drive control device further comprises a bracket arranged between the circuit board and the rear end face of the stepper motor body, and a first through hole for the magnetic encoder to collect information is arranged in a region corresponding to the magnetic encoder on the bracket;
a positioning column is further arranged on the end face of the rear end of the stepping motor body; the bracket is provided with a first positioning through hole opposite to the positioning column, the circuit board is provided with a second positioning through hole opposite to the positioning column and with an inner diameter matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column sequentially penetrates through the first positioning through hole on the support and the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole through the first through hole.
16. The integrated stepper motor of any of claims 13-15, wherein a first auxiliary positioning hole is provided on a rear end face of the stepper motor body, and a first auxiliary positioning post corresponding to the first auxiliary positioning hole is further provided on a back face of the bracket, and the first auxiliary positioning post is embedded into the first auxiliary positioning hole when the bracket is fixed at the rear end of the stepper motor body.
17. The integrated stepper motor of any of claims 13-15, wherein a side of the bracket away from the stepper motor body is a front side of the bracket, a second auxiliary positioning column is arranged on the front side of the bracket, a second auxiliary positioning hole corresponding to the second auxiliary positioning column is arranged on the circuit board, and the second auxiliary positioning column is embedded into the second auxiliary positioning hole for fixing the circuit board during installation.
18. The integrated stepper motor of any of claims 13-15, wherein a side of the bracket away from the stepper motor body is a front side of the bracket, a supporting boss is further arranged on the front side of the bracket, the back side of the circuit board is abutted against the supporting boss to form a component accommodating space with the front side of the bracket when the integrated stepper motor is installed, and the component on the back side of the circuit board is positioned in the component accommodating space.
19. An automated control system comprising an actuator and an integrated stepper motor as defined in any one of claims 11-18, said stepper motor body being coupled to said actuator, said drive control means controlling said actuator to perform a corresponding action via said stepper motor body.
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| CN201910177363.5A CN109787520B (en) | 2019-03-08 | 2019-03-08 | Drive control equipment, integrated motor and automatic control system |
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| CN201910177363.5A CN109787520B (en) | 2019-03-08 | 2019-03-08 | Drive control equipment, integrated motor and automatic control system |
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| CN110473334B (en) * | 2019-08-21 | 2021-06-25 | 北京快方科技有限公司 | Automatic vending method, vending machine and vending system |
| CN112583309B (en) * | 2020-12-04 | 2022-05-13 | 大唐半导体科技有限公司 | Stepping motor speed adjustment control algorithm based on photoelectric encoder |
| CN114552809A (en) * | 2022-01-20 | 2022-05-27 | 张建恒 | Miniature high accuracy direct current gear motor of two encoders |
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